FaSTTUBe
/
steering-wheel
49
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
steering-wheel/Core/Src/tx_initialize_low_level.s

666 lines
30 KiB
ArmAsm
Raw Normal View History

Use AzureRTOS ThreadX
2023-03-05 21:24:12 +01:00
// by default AzureRTOS is configured to use static byte pool for
// allocation, in case dynamic allocation is to be used, uncomment
// the define below and update the linker files to define the following symbols
// EWARM toolchain:
// place in RAM_region { last section FREE_MEM};
// MDK-ARM toolchain;
// either define the RW_IRAM1 region in the ".sct" file or modify this file by referring to the correct memory region.
// LDR r1, =|Image$$RW_IRAM1$$ZI$$Limit|
// STM32CubeIDE toolchain:
// ._threadx_heap :
// {
// . = ALIGN(8);
// __RAM_segment_used_end__ = .;
// . = . + 64K;
// . = ALIGN(8);
// } >RAM_D1 AT> RAM_D1
// The simplest way to provide memory for ThreadX is to define a new section, see ._threadx_heap above.
// In the example above the ThreadX heap size is set to 64KBytes.
// The ._threadx_heap must be located between the .bss and the ._user_heap_stack sections in the linker script.
// Caution: Make sure that ThreadX does not need more than the provided heap memory (64KBytes in this example).
// Read more in STM32CubeIDE User Guide, chapter: "Linker script".
#define USE_DYNAMIC_MEMORY_ALLOCATION
#if defined(__clang__)
@/**************************************************************************/
@/* */
@/* Copyright (c) Microsoft Corporation. All rights reserved. */
@/* */
@/* This software is licensed under the Microsoft Software License */
@/* Terms for Microsoft Azure RTOS. Full text of the license can be */
@/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
@/* and in the root directory of this software. */
@/* */
@/**************************************************************************/
@
@
@/**************************************************************************/
@/**************************************************************************/
@/** */
@/** ThreadX Component */
@/** */
@/** Initialize */
@/** */
@/**************************************************************************/
@/**************************************************************************/
@
@
.global _tx_thread_system_stack_ptr
.global _tx_initialize_unused_memory
.global _tx_timer_interrupt
.global __main
.global __tx_SVCallHandler
.global __tx_PendSVHandler
.global __tx_NMIHandler @ NMI
.global __tx_BadHandler @ HardFault
.global __tx_SVCallHandler @ SVCall
.global __tx_DBGHandler @ Monitor
.global __tx_PendSVHandler @ PendSV
.global __tx_SysTickHandler @ SysTick
.global __tx_IntHandler @ Int 0
#ifdef USE_DYNAMIC_MEMORY_ALLOCATION
.global Image$$RW_IRAM1$$ZI$$Limit
#endif
.global __Vectors
@
@
Make CAN work
2023-03-08 20:20:01 +01:00
SYSTEM_CLOCK = 160000000
Use AzureRTOS ThreadX
2023-03-05 21:24:12 +01:00
SYSTICK_CYCLES = ((SYSTEM_CLOCK / 100) -1)
.text 32
.align 4
.syntax unified
@/**************************************************************************/
@/* */
@/* FUNCTION RELEASE */
@/* */
@/* _tx_initialize_low_level Cortex-M7/AC6 */
@/* 6.1 */
@/* AUTHOR */
@/* */
@/* William E. Lamie, Microsoft Corporation */
@/* */
@/* DESCRIPTION */
@/* */
@/* This function is responsible for any low-level processor */
@/* initialization, including setting up interrupt vectors, setting */
@/* up a periodic timer interrupt source, saving the system stack */
@/* pointer for use in ISR processing later, and finding the first */
@/* available RAM memory address for tx_application_define. */
@/* */
@/* INPUT */
@/* */
@/* None */
@/* */
@/* OUTPUT */
@/* */
@/* None */
@/* */
@/* CALLS */
@/* */
@/* None */
@/* */
@/* CALLED BY */
@/* */
@/* _tx_initialize_kernel_enter ThreadX entry function */
@/* */
@/* RELEASE HISTORY */
@/* */
@/* DATE NAME DESCRIPTION */
@/* */
@/* 09-30-2020 William E. Lamie Initial Version 6.1 */
@/* */
@/**************************************************************************/
@VOID _tx_initialize_low_level(VOID)
@{
.global _tx_initialize_low_level
.thumb_func
_tx_initialize_low_level:
@
@ /* Disable interrupts during ThreadX initialization. */
@
CPSID i
@
@ /* Set base of available memory to end of non-initialised RAM area. */
@
#ifdef USE_DYNAMIC_MEMORY_ALLOCATION
LDR r0, =_tx_initialize_unused_memory @ Build address of unused memory pointer
LDR r1, = Image$$RW_IRAM1$$ZI$$Limit @ Build first free address
ADD r1, r1, #4 @
STR r1, [r0] @ Setup first unused memory pointer
#endif
@
@ /* Setup Vector Table Offset Register. */
@
MOV r0, #0xE000E000 @ Build address of NVIC registers
LDR r1, =__Vectors @ Pickup address of vector table
STR r1, [r0, #0xD08] @ Set vector table address
@
@ /* Set system stack pointer from vector value. */
@
LDR r0, =_tx_thread_system_stack_ptr @ Build address of system stack pointer
LDR r1, =__Vectors @ Pickup address of vector table
LDR r1, [r1] @ Pickup reset stack pointer
STR r1, [r0] @ Save system stack pointer
@
@ /* Enable the cycle count register. */
@
LDR r0, =0xE0001000 @ Build address of DWT register
LDR r1, [r0] @ Pickup the current value
ORR r1, r1, #1 @ Set the CYCCNTENA bit
STR r1, [r0] @ Enable the cycle count register
@
@ /* Configure SysTick for 100Hz clock, or 16384 cycles if no reference. */
@
MOV r0, #0xE000E000 @ Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] @ Setup SysTick Reload Value
MOV r1, #0x7 @ Build SysTick Control Enable Value
STR r1, [r0, #0x10] @ Setup SysTick Control
@
@ /* Configure handler priorities. */
@
LDR r1, =0x00000000 @ Rsrv, UsgF, BusF, MemM
STR r1, [r0, #0xD18] @ Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 @ SVCl, Rsrv, Rsrv, Rsrv
STR r1, [r0, #0xD1C] @ Setup System Handlers 8-11 Priority Registers
@ Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 @ SysT, PnSV, Rsrv, DbgM
STR r1, [r0, #0xD20] @ Setup System Handlers 12-15 Priority Registers
@ Note: PnSV must be lowest priority, which is 0xFF
@
@ /* Return to caller. */
@
BX lr
@}
@
@/* Define shells for each of the unused vectors. */
@
.global __tx_BadHandler
.thumb_func
__tx_BadHandler:
B __tx_BadHandler
@ /* added to catch the hardfault */
.global __tx_HardfaultHandler
.thumb_func
__tx_HardfaultHandler:
B __tx_HardfaultHandler
@ /* added to catch the SVC */
.global __tx_SVCallHandler
.thumb_func
__tx_SVCallHandler:
B __tx_SVCallHandler
@ /* Generic interrupt handler template */
.global __tx_IntHandler
.thumb_func
__tx_IntHandler:
@ VOID InterruptHandler (VOID)
@ {
PUSH {r0, lr}
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_enter @ Call the ISR enter function
#endif
@ /* Do interrupt handler work here */
@ /* BL <your C Function>.... */
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_exit @ Call the ISR exit function
#endif
POP {r0, lr}
BX LR
@ }
@ /* System Tick timer interrupt handler */
.global __tx_SysTickHandler
.global SysTick_Handler
.thumb_func
__tx_SysTickHandler:
.thumb_func
SysTick_Handler:
@ VOID TimerInterruptHandler (VOID)
@ {
@
PUSH {r0, lr}
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_enter @ Call the ISR enter function
#endif
BL _tx_timer_interrupt
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_exit @ Call the ISR exit function
#endif
POP {r0, lr}
BX LR
@ }
@ /* NMI, DBG handlers */
.global __tx_NMIHandler
.thumb_func
__tx_NMIHandler:
B __tx_NMIHandler
.global __tx_DBGHandler
.thumb_func
__tx_DBGHandler:
B __tx_DBGHandler
.end
#endif
#ifdef __IAR_SYSTEMS_ASM__
;/**************************************************************************/
;/* */
;/* Copyright (c) Microsoft Corporation. All rights reserved. */
;/* */
;/* This software is licensed under the Microsoft Software License */
;/* Terms for Microsoft Azure RTOS. Full text of the license can be */
;/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
;/* and in the root directory of this software. */
;/* */
;/**************************************************************************/
;
;
;/**************************************************************************/
;/**************************************************************************/
;/** */
;/** ThreadX Component */
;/** */
;/** Initialize */
;/** */
;/**************************************************************************/
;/**************************************************************************/
;
EXTERN _tx_thread_system_stack_ptr
EXTERN _tx_initialize_unused_memory
EXTERN _tx_timer_interrupt
EXTERN __vector_table
EXTERN _tx_execution_isr_enter
EXTERN _tx_execution_isr_exit
;
;
Make CAN work
2023-03-08 20:20:01 +01:00
SYSTEM_CLOCK EQU 160000000
Use AzureRTOS ThreadX
2023-03-05 21:24:12 +01:00
SYSTICK_CYCLES EQU ((SYSTEM_CLOCK / 100) -1)
#ifdef USE_DYNAMIC_MEMORY_ALLOCATION
RSEG FREE_MEM:DATA
PUBLIC __tx_free_memory_start
__tx_free_memory_start
DS32 4
#endif
;
;
SECTION `.text`:CODE:NOROOT(2)
THUMB
;/**************************************************************************/
;/* */
;/* FUNCTION RELEASE */
;/* */
;/* _tx_initialize_low_level Cortex-M7/IAR */
;/* 6.1 */
;/* AUTHOR */
;/* */
;/* William E. Lamie, Microsoft Corporation */
;/* */
;/* DESCRIPTION */
;/* */
;/* This function is responsible for any low-level processor */
;/* initialization, including setting up interrupt vectors, setting */
;/* up a periodic timer interrupt source, saving the system stack */
;/* pointer for use in ISR processing later, and finding the first */
;/* available RAM memory address for tx_application_define. */
;/* */
;/* INPUT */
;/* */
;/* None */
;/* */
;/* OUTPUT */
;/* */
;/* None */
;/* */
;/* CALLS */
;/* */
;/* None */
;/* */
;/* CALLED BY */
;/* */
;/* _tx_initialize_kernel_enter ThreadX entry function */
;/* */
;/* RELEASE HISTORY */
;/* */
;/* DATE NAME DESCRIPTION */
;/* */
;/* 09-30-2020 William E. Lamie Initial Version 6.1 */
;/* */
;/**************************************************************************/
;VOID _tx_initialize_low_level(VOID)
;{
PUBLIC _tx_initialize_low_level
_tx_initialize_low_level:
;
; /* Ensure that interrupts are disabled. */
;
CPSID i ; Disable interrupts
;
;
; /* Set base of available memory to end of non-initialised RAM area. */
;
#ifdef USE_DYNAMIC_MEMORY_ALLOCATION
LDR r0, =__tx_free_memory_start ; Get end of non-initialized RAM area
LDR r2, =_tx_initialize_unused_memory ; Build address of unused memory pointer
STR r0, [r2, #0] ; Save first free memory address
#endif
;
; /* Enable the cycle count register. */
;
LDR r0, =0xE0001000 ; Build address of DWT register
LDR r1, [r0] ; Pickup the current value
ORR r1, r1, #1 ; Set the CYCCNTENA bit
STR r1, [r0] ; Enable the cycle count register
;
; /* Setup Vector Table Offset Register. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =__vector_table ; Pickup address of vector table
STR r1, [r0, #0xD08] ; Set vector table address
;
; /* Set system stack pointer from vector value. */
;
LDR r0, =_tx_thread_system_stack_ptr ; Build address of system stack pointer
LDR r1, =__vector_table ; Pickup address of vector table
LDR r1, [r1] ; Pickup reset stack pointer
STR r1, [r0] ; Save system stack pointer
;
; /* Configure SysTick. */
;
MOV r0, #0xE000E000 ; Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] ; Setup SysTick Reload Value
MOV r1, #0x7 ; Build SysTick Control Enable Value
STR r1, [r0, #0x10] ; Setup SysTick Control
;
; /* Configure handler priorities. */
;
LDR r1, =0x00000000 ; Rsrv, UsgF, BusF, MemM
STR r1, [r0, #0xD18] ; Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 ; SVCl, Rsrv, Rsrv, Rsrv
STR r1, [r0, #0xD1C] ; Setup System Handlers 8-11 Priority Registers
; Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 ; SysT, PnSV, Rsrv, DbgM
STR r1, [r0, #0xD20] ; Setup System Handlers 12-15 Priority Registers
; Note: PnSV must be lowest priority, which is 0xFF
;
; /* Return to caller. */
;
BX lr
;}
;
;
PUBLIC SysTick_Handler
PUBLIC __tx_SysTickHandler
__tx_SysTickHandler:
SysTick_Handler:
;
; VOID SysTick_Handler (VOID)
; {
;
PUSH {r0, lr}
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_enter ; Call the ISR enter function
#endif
BL _tx_timer_interrupt
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_exit ; Call the ISR exit function
#endif
POP {r0, lr}
BX LR
; }
END
#endif
#if defined (__GNUC__) && !defined(__clang__)
@/**************************************************************************/
@/* */
@/* Copyright (c) Microsoft Corporation. All rights reserved. */
@/* */
@/* This software is licensed under the Microsoft Software License */
@/* Terms for Microsoft Azure RTOS. Full text of the license can be */
@/* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */
@/* and in the root directory of this software. */
@/* */
@/**************************************************************************/
@
@
@/**************************************************************************/
@/**************************************************************************/
@/** */
@/** ThreadX Component */
@/** */
@/** Initialize */
@/** */
@/**************************************************************************/
@/**************************************************************************/
@
@
.global _tx_thread_system_stack_ptr
.global _tx_initialize_unused_memory
.global __RAM_segment_used_end__
.global _tx_timer_interrupt
.global __main
.global __tx_SVCallHandler
.global __tx_PendSVHandler
.global _vectors
.global __tx_NMIHandler @ NMI
.global __tx_BadHandler @ HardFault
.global __tx_SVCallHandler @ SVCall
.global __tx_DBGHandler @ Monitor
.global __tx_PendSVHandler @ PendSV
.global __tx_SysTickHandler @ SysTick
.global __tx_IntHandler @ Int 0
@
@
Make CAN work
2023-03-08 20:20:01 +01:00
SYSTEM_CLOCK = 160000000
Use AzureRTOS ThreadX
2023-03-05 21:24:12 +01:00
SYSTICK_CYCLES = ((SYSTEM_CLOCK / 100) -1)
.text 32
.align 4
.syntax unified
@/**************************************************************************/
@/* */
@/* FUNCTION RELEASE */
@/* */
@/* _tx_initialize_low_level Cortex-M7/GNU */
@/* 6.1 */
@/* AUTHOR */
@/* */
@/* William E. Lamie, Microsoft Corporation */
@/* */
@/* DESCRIPTION */
@/* */
@/* This function is responsible for any low-level processor */
@/* initialization, including setting up interrupt vectors, setting */
@/* up a periodic timer interrupt source, saving the system stack */
@/* pointer for use in ISR processing later, and finding the first */
@/* available RAM memory address for tx_application_define. */
@/* */
@/* INPUT */
@/* */
@/* None */
@/* */
@/* OUTPUT */
@/* */
@/* None */
@/* */
@/* CALLS */
@/* */
@/* None */
@/* */
@/* CALLED BY */
@/* */
@/* _tx_initialize_kernel_enter ThreadX entry function */
@/* */
@/* RELEASE HISTORY */
@/* */
@/* DATE NAME DESCRIPTION */
@/* */
@/* 05-19-2020 William E. Lamie Initial Version 6.0 */
@/* 09-30-2020 William E. Lamie Modified Comment(s), fixed */
@/* GNU assembly comment, clean */
@/* up whitespace, resulting */
@/* in version 6.1 */
@/* */
@/**************************************************************************/
@VOID _tx_initialize_low_level(VOID)
@{
.global _tx_initialize_low_level
.thumb_func
_tx_initialize_low_level:
@
@ /* Disable interrupts during ThreadX initialization. */
@
CPSID i
@
@ /* Set base of available memory to end of non-initialised RAM area. */
@
#ifdef USE_DYNAMIC_MEMORY_ALLOCATION
LDR r0, =_tx_initialize_unused_memory @ Build address of unused memory pointer
LDR r1, =__RAM_segment_used_end__ @ Build first free address
ADD r1, r1, #4 @
STR r1, [r0] @ Setup first unused memory pointer
#endif
@
@ /* Setup Vector Table Offset Register. */
@
MOV r0, #0xE000E000 @ Build address of NVIC registers
LDR r1, =g_pfnVectors @ Pickup address of vector table
STR r1, [r0, #0xD08] @ Set vector table address
@
@ /* Set system stack pointer from vector value. */
@
LDR r0, =_tx_thread_system_stack_ptr @ Build address of system stack pointer
LDR r1, =g_pfnVectors @ Pickup address of vector table
LDR r1, [r1] @ Pickup reset stack pointer
STR r1, [r0] @ Save system stack pointer
@
@ /* Enable the cycle count register. */
@
LDR r0, =0xE0001000 @ Build address of DWT register
LDR r1, [r0] @ Pickup the current value
ORR r1, r1, #1 @ Set the CYCCNTENA bit
STR r1, [r0] @ Enable the cycle count register
@
@ /* Configure SysTick for 100Hz clock, or 16384 cycles if no reference. */
@
MOV r0, #0xE000E000 @ Build address of NVIC registers
LDR r1, =SYSTICK_CYCLES
STR r1, [r0, #0x14] @ Setup SysTick Reload Value
MOV r1, #0x7 @ Build SysTick Control Enable Value
STR r1, [r0, #0x10] @ Setup SysTick Control
@
@ /* Configure handler priorities. */
@
LDR r1, =0x00000000 @ Rsrv, UsgF, BusF, MemM
STR r1, [r0, #0xD18] @ Setup System Handlers 4-7 Priority Registers
LDR r1, =0xFF000000 @ SVCl, Rsrv, Rsrv, Rsrv
STR r1, [r0, #0xD1C] @ Setup System Handlers 8-11 Priority Registers
@ Note: SVC must be lowest priority, which is 0xFF
LDR r1, =0x40FF0000 @ SysT, PnSV, Rsrv, DbgM
STR r1, [r0, #0xD20] @ Setup System Handlers 12-15 Priority Registers
@ Note: PnSV must be lowest priority, which is 0xFF
@
@ /* Return to caller. */
@
BX lr
@}
@
@/* Define shells for each of the unused vectors. */
@
.global __tx_BadHandler
.thumb_func
__tx_BadHandler:
B __tx_BadHandler
@ /* added to catch the hardfault */
.global __tx_HardfaultHandler
.thumb_func
__tx_HardfaultHandler:
B __tx_HardfaultHandler
@ /* added to catch the SVC */
.global __tx_SVCallHandler
.thumb_func
__tx_SVCallHandler:
B __tx_SVCallHandler
@ /* Generic interrupt handler template */
.global __tx_IntHandler
.thumb_func
__tx_IntHandler:
@ VOID InterruptHandler (VOID)
@ {
PUSH {r0, lr}
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_enter @ Call the ISR enter function
#endif
@ /* Do interrupt handler work here */
@ /* BL <your C Function>.... */
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_exit @ Call the ISR exit function
#endif
POP {r0, lr}
BX LR
@ }
@ /* System Tick timer interrupt handler */
.global __tx_SysTickHandler
.global SysTick_Handler
.thumb_func
__tx_SysTickHandler:
.thumb_func
SysTick_Handler:
@ VOID TimerInterruptHandler (VOID)
@ {
@
PUSH {r0, lr}
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_enter @ Call the ISR enter function
#endif
BL _tx_timer_interrupt
#ifdef TX_EXECUTION_PROFILE_ENABLE
BL _tx_execution_isr_exit @ Call the ISR exit function
#endif
POP {r0, lr}
BX LR
@ }
@ /* NMI, DBG handlers */
.global __tx_NMIHandler
.thumb_func
__tx_NMIHandler:
B __tx_NMIHandler
.global __tx_DBGHandler
.thumb_func
__tx_DBGHandler:
B __tx_DBGHandler
#endif